Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile

Bojan Nemec, Fares Abu-Dakka, Jimmy Alison Rytz, Thiusius Rajeeth Savarimuthu, Barry Ridge, Norbert Krüger, Henrik Gordon Petersen, Jerome Jouffroy, Ales Ude

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained by
demonstration and iteratively adapted to the specific environment configuration. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration.
Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces of
different shapes.
Original languageEnglish
Title of host publicationAdvanced Robotics (ICAR), 2013 16th International Conference
Number of pages7
PublisherIEEE Press
Publication date25. Nov 2013
DOIs
Publication statusPublished - 25. Nov 2013

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Nemec, B., Abu-Dakka, F., Rytz, J. A., Savarimuthu, T. R., Ridge, B., Krüger, N., ... Ude, A. (2013). Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile. In Advanced Robotics (ICAR), 2013 16th International Conference IEEE Press. https://doi.org/10.1109/ICAR.2013.6766568
Nemec, Bojan ; Abu-Dakka, Fares ; Rytz, Jimmy Alison ; Savarimuthu, Thiusius Rajeeth ; Ridge, Barry ; Krüger, Norbert ; Petersen, Henrik Gordon ; Jouffroy, Jerome ; Ude, Ales. / Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile. Advanced Robotics (ICAR), 2013 16th International Conference . IEEE Press, 2013.
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Nemec, B, Abu-Dakka, F, Rytz, JA, Savarimuthu, TR, Ridge, B, Krüger, N, Petersen, HG, Jouffroy, J & Ude, A 2013, Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile. in Advanced Robotics (ICAR), 2013 16th International Conference . IEEE Press. https://doi.org/10.1109/ICAR.2013.6766568

Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile. / Nemec, Bojan ; Abu-Dakka, Fares; Rytz, Jimmy Alison; Savarimuthu, Thiusius Rajeeth; Ridge, Barry; Krüger, Norbert; Petersen, Henrik Gordon; Jouffroy, Jerome; Ude, Ales.

Advanced Robotics (ICAR), 2013 16th International Conference . IEEE Press, 2013.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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AB - In this paper we propose a new algorithm that can be used for adaptation of robot trajectories in automated assembly tasks. Initial trajectories and forces are obtained bydemonstration and iteratively adapted to the specific environment configuration. The algorithm adapts Cartesian space trajectories to match the forces recorded during the human demonstration.Experimentally we show the effectiveness of our approach on learning of Peg-in-Hole (PiH) task. We performed our experiments on two different robotic platforms with workpieces ofdifferent shapes.

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Nemec B, Abu-Dakka F, Rytz JA, Savarimuthu TR, Ridge B, Krüger N et al. Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile. In Advanced Robotics (ICAR), 2013 16th International Conference . IEEE Press. 2013 https://doi.org/10.1109/ICAR.2013.6766568